Application Research of an Improved HSIC Controller in Autonomous Soccer Robot Based on Omni-Directional Vision

RoboCup middle-size robot must be controlled realtime, accurately and steadily. So an improved HSIC controller was put forward in this paper to do the motion control for the soccer robot. It was solved that the robot can't veraciously track the trajectory in time in the high-speed competition because of its intrinsic characteristics. Simulation results show that compare with conventional PID, this controller is more efficient and veracious.